Wearable mobility device

ABSTRACT

A wearable mobility device is provided. The wearable mobility device may include a base configured to support a rear portion of a shoe or foot, wherein a front portion of the shoe is free to touch a surface, and wherein the base enables a wearer of the shoe to walk upon the surface when the device is worn by the wearer; two side wheels disposed on opposite sides of the base; a rear wheel disposed at the rear of the base; wherein the wheels enable the wearer to roll upon the surface; and a motor mechanically coupled to at least one of the wheels.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a Continuation of U.S. patent application Ser. No. 15/859,001, filed on Dec. 29, 2017, entitled “WEARABLE MOBILITY DEVICE”, which is a Continuation of U.S. patent application Ser. No. 14/183,435, filed on Feb. 18, 2014, entitled “WEARABLE MOBILITY DEVICE”, now U.S. Pat. No. 9,855,489, which is a Continuation of U.S. patent application Ser. No. 13/296,088, filed on Nov. 14, 2011, entitled “WEARABLE MOBILITY DEVICE”, now U.S. Pat. No. 8,684,121, which claims priority from U.S. Provisional Application No. 61/519,062, filed on May 15, 2011, entitled “SPNKIX WEARABLE MOBILITY DEVICE.” The above-referenced applications are hereby incorporated by reference in their entirety.

TECHNICAL FIELD

This disclosure generally relates to mobility devices, and more specifically to mobility devices that are wearable.

BACKGROUND

Many forms of personal transportation exist, but most if not all have significant disadvantages. Teenagers use scooters, rollerblades, skateboards, bicycles, and even cars to speed up their travel. But each of these personal transportation options has limited usefulness since they must be carried, parked, and/or stored when not in use. Many are banned from public and private areas.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a wearable mobility device in an embodiment.

FIG. 2 is a front view of a wearable mobility device in an embodiment.

FIG. 3 is a rear perspective view of a wearable mobility device in an embodiment.

FIG. 4 is a left perspective view of a wearable mobility device having a training wheel in an embodiment.

FIG. 5 is a rear side view of a wearable mobile device having a training wheel in an embodiment.

FIG. 6 is an exploded view of an embodiment of a wearable mobility device.

FIG. 7 is an electrical schematic diagram illustrating the operative electrical components of a wearable mobility device in an embodiment.

FIG. 8 illustrates a wheel hub motor for a wearable mobility device in an embodiment.

FIG. 9 is a schematic representation of electrical connections to a wheel hub motor in a wearable mobility device in an embodiment.

FIG. 10 is a schematic representation of electrical connections to a wheel hub motor controller in a wearable mobility device in an embodiment.

FIG. 11 is a perspective view of a switch and a light emitting diode battery meter on a battery pack of a wearable mobility device in an embodiment.

FIG. 12 is a side perspective view of a remote control used to control a wearable mobility device in an embodiment.

FIG. 13a is a schematic representation illustrating a top view of a remote control for a wearable mobility device in an embodiment.

FIG. 13b is a schematic representation illustrating a side perspective view of a remote control for a wearable mobility device in an embodiment.

FIG. 14 illustrates a use of a wearable mobility device in an embodiment.

FIG. 15 illustrates an example featuring a battery pack belt and a remote control device according to one embodiment.

FIG. 16 illustrates a wireless remote control device according to one embodiment.

FIGS. 17a,b illustrate the wearable mobility device having a belt drive and a calf-mounted battery pack.

FIGS. 18a-c illustrate configurations of a track system according to various embodiments.

FIGS. 19a-c illustrate an embodiment that employs a common household electrical plug.

FIG. 20 illustrates an example “wheel housed” motor version where some or all of the parts are on a side of the shoe.

FIG. 21 illustrates an example version where the motor and gearbox are located on the swinging arm that presses against the user's leg.

FIG. 22 illustrates an example completely removable version that attaches to normal shoes.

FIG. 23 illustrates an example belted version, with the motor located behind the ankle of the wearer.

FIG. 24 shows detail of an example belt-drive version according to some embodiments.

FIG. 25 illustrates a version with batteries located at the calf, and including a taillight 4 e.

FIG. 26 shows a suspension and tensioner system attached to a wheel.

FIG. 27 illustrates a double freewheel according to some embodiments.

DETAILED DESCRIPTION

Embodiments of the described technology provide wearable mobility devices that enable the user of the devices to walk comfortably, roll, and roll under power while wearing the devices. The disclosed devices allow the user to instantly switch between these mobility modes without removing the devices. These devices provide a wearable, lightweight, and streamlined means of personal transportation. Some embodiments allow users to travel in excess of 10 miles an hour.

In some embodiments, a user may wear two of the wearable mobility devices, with one on each foot. In some of these embodiments, both wearable mobility devices are powered by respective motors. In others of these embodiments, one of the wearable mobility devices may be unpowered, allowing the user to coast on one device while being propelled by the other. In these embodiments, the unpowered wearable mobility device does not require a motor, gears, or motor controls.

In some embodiments, a wearable mobility device may include a base configured to support a rear portion of a shoe. These embodiments are compatible with everyday shoes. While wearing shoes, the user may simply step into the device, which may include a strap to retain the shoe in the base. In these embodiments, the front portion of the shoe is free to touch a surface such as a sidewalk, bike trail, or the like. This arrangement allows the user to walk comfortably while wearing the devices. The devices include wheels, tracks, or the like that allow the wearer to roll upon the surface, for example by lifting the front of the foot off the surface.

The devices may include a power source, and a motor to drive one or more of the wheels, thereby propelling the user along the surface. For example, the motor may be an electric motor, and the power source may be a rechargeable battery pack. In some embodiments, the rechargeable battery pack may be removed from the device for easy recharging. However, any power source may be used.

In some embodiments, the speed of the motor may be controlled by the user with a remote control device, which may be coupled to the wearable mobility device by wire or wirelessly. The remote control device may include a user interface, and a transmitter to transmit control signals to the mobility device responsive to user operation of the user interface.

Some embodiments include a brake to slow and stop the rolling of the mobility device. In some embodiments, the brake may be operated manually, for example by changing the position of the foot. In some embodiments, the brake may be operated using the remote control or some other device, for example, a smart phone. In some embodiments, the brake may be operated by other means of control, such as through inertial-type sensors such as accelerometers, gyroscopes, and the like.

In some embodiments, the speed of the motor may be controlled automatically. In such embodiments, the device may include a speed sensor and a motor controller. The motor controller controls the speed of the motor in accordance with the speed detected by the speed sensor.

The devices are compatible with other means of public and private transportation. While wearing the devices, a user may drive a car or take a bus.

The devices enable a user to navigate terrain impassable to wheeled devices. While wearing the devices, a user may climb stairs, and walk over difficult terrain.

The devices may be worn where wheeled transportation is banned. For example, a user may wear the devices in a shopping mall, in a train station, or on a train. This arrangement allows a user to roll to a train station, then to walk through the station and board a train, all without removing the devices.

In some embodiments, the devices may be partially disassembled or compliance with regulations, for example in insurance-controlled environments. Parts of the device may be removed and stored in accessories such as backpacks, belts, and battery packs. For example, local restrictions may require the removal of the wheels and/or motor. In various embodiments, these parts and others are easily removed and reinstalled.

In some embodiments, the devices are easily removed. For example, in the embodiments described above, the user may simply loosen a retention mechanism, and step out of the mobility device. Example retention mechanisms include scraps, cams, soft attachment means, hard attachment means, and gravity methods. For example, in one “hands free” version, a camming action strap system uses the pressure of the foot pressing down to activate the retention device. This version does not require special shoes having mounting brackets.

Some embodiments provide shoes specifically designed to work with the mobility devices. For example, the shoe may include a mounting bracket that allows the device to be attached and detached quickly and easily.

In some embodiments, power sources such as battery packs are integrated with the device. In other embodiments, the power sources are removable. The power sources may be attached to the device in any manner. The power source may be part of a shoe that is designed to mate with the device. The power source may be worn on the user's body. Battery packs may be carried on a belt, on the legs of the user, or on other body parts and clothing. In one embodiment, a power source forms part of an upright calf piece that hinges under spring tension, pressing it against the calf gently to keep it out of the way.

In some embodiments, the device allows the user to regain balance by allowing the devices to slide in a controlled manner, allowing the user to self-right. In some embodiments, a double direction freewheel or the like allows this slippage, in conjunction with control circuitry.

In some embodiments, the device may include a locking device to immobilize the wheels so they function as treads while the user is walking. In other embodiments, the device may include a cover for the moving parts. In such embodiments, the cover may act as a tread for walking. These features may improve safety, and act as a signal to security personnel that the device is immobile.

In some embodiments, the user may roll in an unpowered mode, for example to roll down ramps or to move in a skating manner.

Some embodiments include a suspension to absorb shocks. The suspension may be incorporated into wheels of the device, including a drive wheel. In embodiments that employ circulating treads or tracks, the suspension also serves to tension the tread to keep the tread on the guide/drive wheels.

In some embodiments, the mobility devices are small enough to be worn all day without fatigue. The mobility devices may be small enough to be worn under clothing without being detected.

In some embodiments, the mobility devices may include reflectors, lights, and the like, to enable nighttime operation. The lights may be controlled with the remote control device.

In the description to follow, various embodiments will be described, and specific configurations will be set forth. These embodiments, however, may be practiced with only some or all aspects, and/or without some of these specific details. In other instances, well-known features are omitted or simplified in order not to obscure important aspects of the embodiments.

FIGS. 1 and 2 illustrate an example wearable mobility device 10 according to one embodiment of the disclosed technology. The mobility device 10 for personal transportation includes a base 12 for placement of a shoe 14. The base 12 may include a battery pack 20, a tail reflector, and a wireless receiver. The mobility device 10 includes a first wheel 16 and a motor. The motor may be located anywhere on the mobility device 10. Various embodiments are described in terms of a hub motor. However, it should be understood that a standard motor may be used in place of the hub motor in some if not all of these embodiments.

In some embodiments the motor is a wheel hub motor. The wheel hub motor may be rotatably connected to a first partial axial shaft connected to the base 12. In some embodiments, the first wheel 16 may have a diameter equal to at least 5.5 inches. A second wheel 18 having a wheel hub motor controller embedded therein, the wheel hub motor controller may be rotatably connected to a second partial axial shaft connected to the base 12. The second wheel 18 may have a diameter equal to the diameter of the first wheel 16.

In some embodiments, a remote control may be employed for controlling the speed and direction of the mobility device 10. The remote control transmits one or more control signals to a wireless receiver in the mobility device 10. The remote control may be mounted on the wrist of a user of the mobility device 10. The mobility device 10 may be suitable for use on pedestrian travel surfaces to walk, scoot, and roll. A user may drive a car without the need for removing the shoe 14.

The base 12 and a battery pack of the mobility device 10 may function as a shock absorber for the heel of the user. The power transmitted from the wheel hub motor to the first wheel 16 and the second wheel 18 may propel the mobility device 10.

The mobility device 10 may be removed and stored in a backpack accessory when not in use. The first wheel 16 and the second wheel 18 may enable the mobility device 10 to move forward and rearward. The first wheel 16 and the second wheel 18 may include a suspension/tensioner feature. The first wheel 16 and the second wheel 18 may hold steady using a locking device.

The mobility device 10 may include a handle flap 24, which may be made of rubber material. The handle flap 24 provided with the mobility device 10 can be utilized as a handle and as a shock absorber for the heel of the user. The handle flap 24 also serves as a fitting device that conforms to the user's foot to provide a more customized fit.

FIG. 3 shows a rear perspective view of an example wearable mobility device 10. The base 12 may include a bracket 30 that acts as a brace to receive and support a wearer's shoe or foot, and as a standing platform for the user. In some embodiments, the base 12 may include a heel-support section 46 to provide comfort for the heel of the user.

The battery pack 20 in the mobility device 10 may store a plurality of rechargeable batteries. The battery pack 20 may be removable and rechargeable. However, the battery pack 20 may be charged while included in or removed from the mobility device 10. The battery pack 20 may include a tail reflector 22 to make the device 10 more noticeable at night. In one embodiment, the battery pack 20 may be mounted to the calf of the user.

In one embodiment, the batteries used in the mobility device 10 are lithium polymer batteries. In another embodiment, the batteries used in the device 10 may be nanophosphate batteries. In another embodiment, the batteries used in the mobility device 10 may be lithium ion batteries.

The battery pack 20 may include a plurality of windows which illuminate to show the charge status of the battery pack 20. In one embodiment, the battery pack 20 may include a battery charging port which may charge the battery pack 20 from any wall socket. The battery charging port may transfer electrical power from the wall socket to the plurality of batteries in the battery pack 20 of the wearable mobility device 10 to recharge them. In one embodiment, the plurality of batteries may be adapted for recharging from a solar panel. The battery pack 20 may be integrated to the mobility device 10 in a removable section connected by a battery charging port. A wireless receiver may be included in a back cavity 26 under the battery pack of the mobility device 10 to communicate with a remote control.

FIGS. 4 and 5 illustrate an embodiment of the wearable mobility device 10 having a third wheel 28. The third wheel 28 may assist with training, stability, and safety. In some embodiments, the third wheel 28 may have suspension incorporated into it to support the rider actively and/or passively. In some embodiments, the third wheel may be replaced with a stopper-type brake similar to the type used on roller skates. In some embodiments, the third wheel may be powered by a motor.

FIG. 6 is an exploded view of one embodiment of an example wearable mobility device 10. The mobility device 10 may include a base 12 for placement of the shoe. The base 12 may include a bracket 30 for a wearer's foot and a means to connect the first wheel 16 and the second wheel 18. A reinforcing brace 54 may be provided as a supporting member on the bracket 30 to prevent wear and tear, and to provide a consistent, strengthened structure for mounting the first wheel and the second wheel. A pair of covers 32 may be provided to cover a wires in the wheel hub motor and the wheel hub motor controller of the mobility device 10. A tail reflector 22 is employed to make the mobility device 10 noticeable during night time.

The battery pack 20 may include space for inserting and storing the batteries. The battery pack 20 may include a switch 110 and a Light Emitting Diode (LED) battery meter 102. The switch 110 may be used to power the mobility device 10 on and off. The LED battery meter may be used to show the charge status of the plurality of batteries. The battery pack 20 may include a releasing mechanism 56 to separate the battery pack 20 from the base 12.

A plurality of holes 61 may be provided on an inner face of the handle flap 24 to hold bolts securing a ladder and a ratchet, which may be employed across an upper portion of a wearer's foot. Additionally, a first hole 58 may be present on an inner face of the bracket 30 to hold a bolt attached to a ladder. A second hole 58 may be present on an opposing inner face of the bracket 30 to hold a bolt attached to a ratchet. The ladder and the ratchet may be secured to the bracket 30 to secure the shoe 14 to the mobility device 10, and may be located across a lower-middle portion of the shoe covering the instep of a wearer's foot.

FIG. 7 is an electrical schematic diagram 100 for an example wearable mobility device 10. The diagram 100 illustrates electrically coupled connections between the LED battery meter 102, a battery management system (BMS) 104, the plurality of batteries 106 connected in a series/parallel configuration, a battery charging port 108, the switch 110, the wheel hub motor controller 112, the wheel hub motor 114 and the wireless receiver 116. In the illustrated embodiment, the wireless receiver 116 may be electrically coupled to the wheel hub motor 114 and the wheel hub motor controller 112. In an alternative embodiment, the wireless receiver 116 may be electrically coupled to the wheel hub motor controller 112 to which control signals are transmitted for control and operation of the wheel hub motor 114. The LED battery meter 102 and the BMS 104 may be electrically coupled to the plurality of batteries 106. The plurality of batteries 106 may be charged by utilizing the battery charging port 108. The wheel hub motor controller 112 may control the speed of rotation and the direction of travel (i.e., forward or backward) of the wheels of the mobility device 10 after receiving one or more control signals from a remote control through the wireless receiver.

FIG. 8 is an illustration of an example wheel hub motor 114 for an example wearable mobility device 10. The wheel hub motor 114 may be rotatably connected to the first partial axial shaft which may be connected to the base 12 of the mobility device 10. The hub motor 114 may be a brushless direct current electric motor that includes a plurality of coil windings 148 and may be positioned around the partial axial shaft. In one embodiment, the mobility device 10 utilizes an eighty watt (80W) motor and its speed may be controlled by a controller which receives one or more control signals from a remote control.

FIG. 9 is a schematic representation of the electrical connections to a wheel hub motor 114 in an example wearable mobility device 10. In one embodiment, the hub motor 114 may be a permanent magnet brushless DC (Direct Current) motor. The hub motor 114 includes three terminals and they are respectively, a Motor A section 120, a Motor B section 122, and a Motor C section 124. The hub motor 114 can operated at various operating voltages in the mobility device 10. In the preferred embodiment, the hub motor 114 may be operative with a voltage of 24 volts DC. The hub motor 114 operates with 80W power and has a maximum speed of 650 rpm (rotations per minute). The power and speed may vary according to the voltage used in the motor. In the preferred embodiment, the hub motor 114 uses three Hall Effect sensors to detect speed, which sensors are Motor Hall signal A 130, Motor Hall signal B 132, and Motor Hall signal C 134. A +5 VDC power supply line 126 and a Ground supply line 128 are internally connected to the three sensors.

FIG. 10 is a schematic representation of the electrical connections to a wheel hub motor controller 112 in an example wearable mobility device 10. A three phase motor controller using 24V DC operating voltage may be used in the preferred embodiment. The controller under voltage value may be twenty-one volts (21 Volts) DC and the controller limiting value may be 8 Amperes. The terminals on the wheel hub motor controller 112 that are coupled to the wheel hub motor 114 are the Motor A section 120, the Motor B section 122 and the Motor C section 124. The controller power may be adjusted using two control lines 136 and 138. The motor controller 112 includes three Hall Effect Sensors 130, 132, 134 to detect the speed of the wheel hub motor 114. The +5 VDC power supply line 126 and the Ground supply line 128 are internally connected to all three sensors. In addition to providing electrical power to the wheel hub motor 114, the wheel hub motor controller 112 also provide electrical power to the wireless receiver 26 which may be electrically coupled to the motor controller 112 from the base 12. In one embodiment, the wheel hub motor controller includes a wireless receiver power supply line 140 on which a voltage of +5V may be provided, a ground supply line 144, a remote control receiver signal line 142, and a controller reversible control line 146 to communicate back to the wireless receiver 116.

FIG. 11 is a perspective view of the switch 110 and the LED battery meter 102 on the battery pack 20 in an example wearable mobility device 10. The battery pack 20 may include the switch 110 and the LED battery meter 102 to display the current status of the charge available in the batteries. The LED battery meter 102 includes a plurality of windows 118 which display a green light, a yellow light and a red light. The green light indicates an adequate amount of charge in the plurality of batteries 106, a yellow light indicates batteries in need of charging, and the red light indicates low battery charge.

FIG. 12 shows a side perspective view of an example remote control 34 in one embodiment. The remote control 34 may be used to transmit one or more control signals to a wireless receiver which are transmitted to a wheel hub motor controller for the purpose of controlling the speed and direction (i.e., forward or backward) of the mobility device 10. In an embodiment, the remote control 34 includes a knob 40 b coupled to a continuously variable switch that may be employed for activation and motion control of the mobility device 10. The knob may be continuously pushed to maintain motion while the remote control 34 may be held in the palm of a user. If the knob 40 b is released, or in the event of a fall, the knob will automatically move to a central position to de-activate the mobility device 10. The remote control 34 may also include a strap to keep the remote control 34 on a user's hand, and an LED operational status indicator which may be powered on when the remote control may be switched on.

FIG. 13a shows a schematic representation of the internal components of an example remote control 34 in an embodiment. The remote control 34 may include a battery 36, a central processing unit (CPU) 38, a continuously variable switch 40 a and a receiver 42. The remote control 34 may transmit one or more control signals to the wireless receiver 116 embedded in the mobility device 10, and may receive reply signals from the mobility device 10 on the receiver 42. The speed of the mobility device 10 may be adjusted by the controller based on one or more control signals transmitted from the remote control 34.

FIG. 13b shows a front side external view of an example remote control 34. In the illustrated embodiment, a knob 40 b on an upper external surface of the remote control 34 may be a circular button that can be pushed forward or backward and may be coupled to the continuously variable switch 40 a internal to the remote control 34. The remote control may include a guard band 52 for mounting onto the wrist of a user.

FIG. 14 illustrates an example wearable mobility device 10 in use. In one embodiment, the wearable mobility device 10 may be secured to the shoe 14 of a user employing two different sets of straps, both of which include a ladder and a ratchet. In one embodiment, each set of straps may be locked using a centrally located locking clasp 60 a, 60 b. In an alternative embodiment, each set of straps may be locked using a side located locking clasp. As shown here, an upper ladder 47 a and ratchet 47 b may serve to strap the upper portion of a wearer's foot to the rear portion of the bracket 30 and the handle flap 24. A lower ladder 48 a and ratchet 48 b may be used to strap or restrain the lower-middle portion of a wearer's shoe connecting and covering the instep of a wearer's foot to the bracket 30. The user may use the remote control 34 to control the speed and braking action of the mobility device 10. More specifically, a user may push or pull the knob 40 b on the remote control 34 to control the forward and backward motion of the mobility device 10. The mobility device 10 may provide an elegant look for the user's shoe 14 while enabling a user to walk, roll, scoot and to even drive a car.

Although specific embodiments have been illustrated and described above, it will be appreciated by those of ordinary skill in the art that a wide variety of alternative and/or equivalent implementations may be substituted for the specific embodiments shown and described herein without departing from the scope of the present disclosure. For example, in one alternative embodiment, a wireless version of the device 10 may be provided in which all parts are housed in the shoes except for the hand controller. In an additional alternative embodiment, the device 10 does not need a hand control and the functionality of the device 10 may be controlled by other parts of the body using weight distribution detection software and/or hardware or other means so as to provide a greater range of adjustability with the motors, gears and belts to customize the device 10 to a wearer's specific needs. In a still further embodiment, a wired version of the device 10 includes a belt to secure the device 10 to the wearer's body. In this embodiment, the battery pack and the remote control are extended from the belt and a hand-held remote control may be electrically coupled to the belt and control signals from the remote are transmitted over electrical wiring directly to a motor controller embedded in a shoe.

FIG. 15 illustrates an example featuring a battery pack belt and a remote control device according to one embodiment. Referring to FIG. 15, two mobility devices are shown. Each mobility device includes a shoe 1 a, a motor 1 b, a gearbox 1 c, and a wheel structure 1 d. Each shoe 1 a receives a foot of the user. The motor 1 b drives the wheel system 1 d. In the depicted embodiment, the wheel system 1 d includes one or more wheels. In other embodiments, the wheel system 1 d may include circulating treads (such as with a military tank), millipedes-like legs, or other motive structures. In the depicted embodiment, the motor 1 b is located at the shoe 1 a. In other embodiments, the motor 1 b may be located elsewhere on the body of the user. In various embodiments, the motor 1 b and may employ a worm drive, chain drive, belt drive, or the like driving the wheel structure 1 d. Also illustrated in FIG. 15 is a gearbox 1 c. The gearbox 1 c may reduce the rotational speed of the output shaft of the motor 1 b while increasing torque levels to those required for moving the weight of a human being.

Also illustrated in FIG. 15 is an example battery belt 2 a. In other embodiments, the batteries may be worn elsewhere in the body, for example in a backpack or the like. The battery belt 2 a may include a plurality of battery packets 2 b for holding batteries 2 c. The battery belt 2 a may include a control box 2 d. The control box 2 d may be connected to the motor 1 b by one or more cables 1 e for the transmission of power and control signals. The control box 2 d may include an on/off switch 2 d 2. The control box 2 d may also include a recharging port 2 d 1 for recharging the batteries 2 c.

Also illustrated in FIG. 15 is an example remote control device. The remote control device may include a grip 3 a and a user interface for controlling the motor 1 b. The user interface may include a throttle control 3 b, and a brake control 3 c. In wired versions, the remote control device may be connected to the control box 2 d by a cable 3 d. The remote control device may include an on/off button that is easy to operating case of an emergency, in the fall, or the like.

FIG. 16 illustrates an example wireless remote control device according to one embodiment. The wireless remote control devices may include a grip 3 a and a user interface for controlling the motor 1 b. The user interface may include a throttle control 3 b, and a brake control 3 c. In this wireless version, the remote control device may be connected to the control box 2 d within the antenna 3 e, which may be external to the remote control device shown, or hidden within the remote control device.

FIGS. 17a,b illustrate an example wearable mobility device having a belt drive and a calf-mounted battery pack. Referring to FIG. 17a , the motor 1 d drives one or more wheels using a belt 1 n. The belt arrangement may also serve as a transmission by gearing down the motor speed to a usable wheel speed. There may be several belts for each foot, including at least one belt for each wheel. In some embodiments, the motors are hub motors, with the wheels directly mounted to the motors.

In some embodiments, the shoe 1 a may be detached from the other elements of the wearable mobility device, as shown in FIG. 17b . In these embodiments, the wearable mobility devices may include a retention device 1 l, such as a clip or the like. The retention device 1 l allows the user wearing the shoe 1 a to simply step in to the wearable mobility device, forming a rigid and secure mechanical connection between the shoe 1 a and the wearable mobility device. The wearable mobility device may be received into and arch of the shoe 1 a for improved wearability.

FIGS. 18a-c illustrate example configurations of a track system according to various embodiments. FIG. 18a illustrates a partial track arrangement. Referring to FIG. 18a , a track 1802 and a plurality of rollers 1804 are located in the sole of a shoe 1 a. The track 1802 may circulate around the rollers 1804. One or more of the rollers 1804 may be driven by a motor (not shown) to drive the track 1802, which propels the shoe 1 a. In the embodiment of FIG. 18a , the tread 1802 extends only partially down the length of the shoe 1 a. This arrangement allows the wearer to stop by simply lifting the heel of the shoe 1 a.

FIG. 18b illustrates a multi-roller arrangement. Referring to FIG. 18b , a plurality of rollers 1804 are located in the sole of a shoe 1 a. One or more of the rollers 1804 may be driven by a motor (not shown) to propel the shoe 1 a. This arrangement also allows the wearer to stop by simply lifting the heel of the shoe 1 a.

FIG. 18c illustrates a full track arrangement. Referring to FIG. 18c , a track 1802 and a plurality of rollers 1804 are located in the sole of a shoe 1 a. The track 1802 may circulate around the rollers 1804. One or more of the rollers 1804 may be driven by a motor (not shown) to drive the track 1802, which propels the shoe 1 a. In the embodiment of FIG. 18a , the tread 1802 extends fully down the length of the shoe 1 a. This arrangement may provide better traction than the partial track arrangement of FIG. 18 a.

FIGS. 19a-c illustrate an embodiment that employs a common household electrical plug. In such embodiments, the removable battery pack 4 a may be connected to the mobility device by a common household electrical plug 4 c. In these embodiments, the battery pack 4 a may be removed and plugged into a common household electrical socket for recharging. This arrangement requires no electrical cord, and is ideal for a commuter who uses the motor only during morning and evening commutes. During the day, the user may continue to wear the mobility devices for rolling while the battery packs recharge. FIG. 19a shows the battery pack 4 a connected to the shoe 1 a. FIG. 19b illustrates the connection of the battery pack 4 a to the shoe 1 a. The battery pack 4 a may include additional hardware 4 d to secure the battery pack 4 a to the shoe 1 a. The shoe may include an electrical receptacle 1 g to receive the electrical plug 4 c. FIG. 19c illustrates the connection of the battery packs 4 a to a common household electrical socket for recharging.

FIG. 20 illustrates an example “wheel housed” motor version where some or all of the parts are on a side of the shoe. This arrangement allows the shoe 1 a to be closer to the ground. This arrangement also permits a larger wheel, which is able to handle more difficult terrain than a smaller wheel. FIG. 20 illustrates the motor 1 b, the gearbox 1 c, and the wheel 1 d, as well as a shaft/wheel bearing mount 1 f for the shoe 1 a.

FIG. 21 illustrates an example version where the motor and gearbox are located on a swinging arm. As power is applied to the motor, the arm may move against the user, that is, in a direction toward the user. In some embodiments, the swing arm may press against the user's leg. In some cases, these arrangements allow these parts to remain inside the user's pant leg. This arrangement both conceals and streamlines the wearable mobility device, making it easier and more comfortable to use. This arrangement also makes it easier to remove the shoe, because the motor may slide out of the way so the laces or other means of shoe attachment are easily accessed. Referring to FIG. 21, a gearbox 1 c transmits power from the motor 1 b to the wheel 1 d. The gearbox 1 c may include bevel gears to direct the power to the wheel 1 d, as shown in FIG. 21. As with other embodiments, the shoe 1 a may be replaced by a base 1 k to accommodate a user's shoe.

FIG. 22 illustrates an example completely removable version that attaches to normal shoes. In this version, the user may simply place the shoe 1 a on the base 1 k, and tighten the strap 1 i to secure the shoe 1 a to the base 1 k. This arrangement allows everyday shoes to be used with the wearable mobility devices.

FIG. 23 illustrates an example belted version, with the motor located behind the ankle of the wearer. This version allows for a high range of adjustability of the motors, gears, and belts to allow the user to customize the device extensively. This arrangement also allows the use of multiple belts and/or motors. In this embodiment, the battery pack 4 a gently presses against the calf of the user. This arrangement keeps the battery pack 4 a out of the way, and allows for concealment of the battery pack 4 a within a pant leg.

FIG. 24 shows detail of an example belt-drive version according to some embodiments. Referring to FIG. 24, the motor 1 b drives the wheel 1 d through a belt 1 n. In these embodiments, the motor 1 b also serves as a structural member, spanning space between the ends of the support bracket 1 m. this arrangement serves to increase the strength of the chassis, while reducing its weight.

FIG. 25 illustrates a version with batteries 4 b located at the calf, and including a taillight 4 e. The user simply places a shoe on the base 1 k, and the shoe is retained with a strap 1 p. In this version, both the front and rear of the shoe are free to touch the ground, thereby allowing the user to walk comfortably.

FIG. 26 illustrates a suspension and tensioner system according to some embodiments. Referring to FIG. 26, the system is shown integrated with a shoe 1 a and other components including a motor 1 b, a gearbox 1 c, and a wheel 1 d, but not all of these elements are required in every embodiment. As with other embodiments, the shoe 1 a may be replaced by a base 1 k to accommodate a user's shoe, and the motor 1 b may be embedded within the wheel 1 d, for example as a hub motor. One or more of the wheels may contain an expanding integral suspension and tensioner system that may absorb shock from the ground, tighten the belt to keep it on track, or both.

In FIG. 26 the suspension and tensioner system is shown attached to the wheel 1 d. However, in various embodiments, the suspension and tensioner system may be attached to drive wheels, non-drive wheels, support and training wheels, and the like. Referring to FIG. 26, the suspension and tensioner system may include one or more curved plates 5 b supported by one or more springs 5 a. The suspension and tensioner system may tension the belt 5 d by pressing against it. The suspension and tensioner system also absorbs shock from the ground. In some embodiments, a tensioning wheel 5 c may be included. The suspension and tensioner system may be included in a multiwheeled track system. The suspension and tensioner system provides a very smooth ride and excellent reliability.

FIG. 27 illustrates a double freewheel according to some embodiments. Referring to FIG. 27, the double freewheel is shown integrated with a shoe 1 a. But as with other embodiments, the shoe 1 a may be replaced by a base 1 k to accommodate a user's shoe. The double freewheel includes a double clutch system, which may be embedded in a wheel 1 d, as shown. The wheel 1 d includes a drive gear 6 c, which may be mounted on a drive shaft or gear shaft 6 f. The drive gear 6 c includes a plurality of clutch plates 6 b. Each clutch plate 6 b may be biased outward by a respective spring 6 a to press against a clutch bearing 6 d. In this arrangement, the drive gear 6 c may rotate through several degrees in either direction before the double clutch engages, as shown in FIG. 27. This arrangement allows some freedom of movement for the wearer, which allows the wearer to maintain or regain balance or self-right before the motor takes over and pushes forward or backward. The double clutch allows forward and rearward motion until it intuitively seizes, allowing the motor to deliver power to the wheels. The system may also include one or more sensors, and one or more actuators such as solenoids.

Spatially relative terms such as “under,” “below,” “lower,” “over,” “upper,” and the like, are used for ease of description to explain the positioning of one element relative to a second element. These terms are intended to encompass different orientations of the device in addition to different orientations than those depicted in the figures. Further, terms such as “first,” “second,” and the like, are also used to describe various elements, regions, sections, etc. and are also not intended to be limiting. Like terms refer to like elements throughout the description.

As used herein, the terms “having,” “containing,” “including,” “comprising,” and the like are open ended terms that indicate the presence of stated elements or features, but do not preclude additional elements or features. The articles “a,” “an” and “the” are intended to include the plural as well as the singular, unless the context clearly indicates otherwise.

Although this invention has been disclosed in the context of certain implementations and examples, it will be understood by those skilled in the art that the present invention extends beyond the specifically disclosed implementations to other alternative implementations and/or uses of the invention and obvious modifications and equivalents thereof. Thus, it is intended that the scope of the present invention herein disclosed should not be limited by the particular disclosed implementations described above.

Furthermore, the skilled artisan will recognize the interchangeability of various features from different implementations. In addition to the variations described herein, other known equivalents for each feature can be mixed and matched by one of ordinary skill in this art to construct analogous systems and techniques in accordance with principles of the present invention.

It is to be understood that not necessarily all objects or advantages may be achieved in accordance with any particular implementation of the invention. Thus, for example, those skilled in the art will recognize that the invention may be embodied or carried out in a manner that achieves or optimizes one advantage or group of advantages as taught herein without necessarily achieving other objects or advantages as may be taught or suggested herein. 

What is claimed is:
 1. A wearable mobility device comprising: a base configured to support a rear portion of a shoe or foot, wherein a front portion of the shoe is free to touch a surface, and wherein the base enables a wearer of the device to walk upon the surface when the device is worn by the wearer; two side wheels disposed on opposite sides of the base; a rear wheel disposed at the rear of the base; wherein the wheels enable the wearer to roll upon the surface; and a motor mechanically coupled to at least one of the wheels.
 2. The wearable mobility device of claim 1, further comprising: a strap configured to retain the shoe or foot in the base.
 3. The wearable mobility device of claim 1, further comprising: a power source electrically coupled to the motor.
 4. The wearable mobility device of claim 3, wherein: the power source is removable from the device.
 5. The wearable mobility device of claim 3, wherein: the power source is rechargeable.
 6. The wearable mobility device of claim 5, wherein the power source comprises: one or more batteries.
 7. The wearable mobility device of claim 1, further comprising: one or more gears mechanically coupled between the motor and the at least one of the wheels.
 8. The wearable mobility device of claim 7, wherein the motor and the one or more gears are housed within the at least one of the wheels.
 9. The wearable mobility device of claim 1, further comprising: a receiver to receive a speed control signal into the device; and a motor controller configured to control a speed of the motor in accordance with the speed control signal.
 10. The wearable mobility device of claim 9, further comprising: a controller comprising: a user interface, and a transmitter configured to transmit the speed control signal responsive to operation of the user interface.
 11. The wearable mobility device of claim 1, further comprising: a sensor configured to detect a speed of the wheel; and a motor controller configured to control a speed of the motor in accordance with the detected speed of the wheel.
 12. The wearable mobility device of claim 1, further comprising: a bracket configured to receive a wearer's shoe or foot.
 13. A wearable mobility system, comprising: a base configured to support a shoe or foot; a side wheel disposed on a side of the base, the side wheel having a hub motor embedded therein; and one or more support wheels coupled to the base.
 14. The wearable mobility device of claim 13, further comprising: a strap configured to retain the shoe or foot in the base.
 15. The wearable mobility device of claim 13, further comprising: a power source electrically coupled to the motor.
 16. The wearable mobility device of claim 15, wherein: the power source is removable from the device.
 17. The wearable mobility device of claim 15, wherein: the power source is rechargeable.
 18. The wearable mobility device of claim 17, wherein the power source comprises: one or more batteries.
 19. The wearable mobility device of claim 13, further comprising: one or more gears mechanically coupled between the hub motor and the sidewheel.
 20. The wearable mobility device of claim 19, wherein the one or more gears are housed within the sidewheel.
 21. The wearable mobility device of claim 13, further comprising: a bracket configured to receive a wearer's shoe or foot.
 22. A wearable mobility system comprising: a first wearable mobility device, comprising: a first base configured to support a rear portion of a first shoe or first foot, wherein a front portion of the first shoe or first foot is free to touch a surface, and wherein the first base enables a wearer of the first wearable device to walk upon the surface when the first wearable device is worn by the wearer, two first side wheels disposed on opposite sides of the first base, a rear wheel disposed at the rear of the first base, wherein the first side wheels enable the wearer to roll upon the surface, and a motor mechanically coupled to at least one of the wheels; and a second wearable mobility device, comprising: a second base configured to support a rear portion of a second shoe or second foot, wherein a front portion of the second shoe or second foot is free to touch the surface, and wherein the second base enables the wearer to walk upon the surface when the second wearable device is worn by the wearer, and two second side wheels disposed on opposite sides of the second base, wherein the second side wheels enable the wearer to roll upon the surface. 